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IkeaBot: Robot Furniture Assembly System

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Published on Apr 10, 2013

The IkeaBot system provides end-to-end capabilities in furniture assembly. See http://people.csail.mit.edu/rak/www/?...
This video shows autonomous assembly of the IKEA Lack table. First, it infers how parts fit together based on hole positions. Then it plans a sequence of assembly steps for multiple KUKA youBot robots. The robots distribute tasks based on delivery and assembly roles. Assembly robots are equipped with a system of modular tools that fit onto the youBot's gripper like a glove. The screwing device seen here can be docked when it is not in use. After the assembly is complete, the robots coordinate motions to flip over the table.

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